wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
rtabmap_ros/Tutorials/HandHeldMapping - ROS Wiki
Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. RGB-D Handheld Mapping Description: This tutor
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$ roslaunch realsense2_camera rs_camera.launch align_depth:=true unite_imu_method:="linear_interpolation" enable_gyro:=true enable_accel:=true
$ rosrun imu_filter_madgwick imu_filter_node \ _use_mag:=false \ _publish_tf:=false \ _world_frame:="enu" \ /imu/data_raw:=/camera/imu \ /imu/data:=/rtabmap/imu
$ roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \ depth_topic:=/camera/aligned_depth_to_color/image_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info \ approx_sync:=false \ wait_imu_to_init:=true \ imu_topic:=/rtabmap/imu
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